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Actually, I just tried it with no props and it seemed to work. Maybe because it was already armed and the battery was not shut off? I turned on the battery and switched to manual mode and armed the motors. I raised the throttle to simulate takeoff and raised it up about 5' and then turned the motors off with the manual shutdown (throttle down/left) While I was rocking it around by hand and after about 5sec, I armed the motors (throttle down/right) in manual mode and raised the throttle. All motors armed and ran as they should. Just a test. YMMVNo it won't.
Pre arm check requires the copter to be on stable ground.